JP2009533840A - Package handler - Google Patents

Abstract

Provided is a package handler capable of automatically performing an operation of taking out a package that has been processed by a processing jig and an operation of mounting a new unprocessed package on a processing jig. The package handler is installed on the main body, on one side of the main body, and stores an onloader portion on which a jig in which a plurality of slots for storing processed packages are formed is mounted, and a package pulled out from the jig. The uncut tray is pulled out from the jig in the on-loader section, the uncut tray section on which the cut tray section on which empty trays to be loaded are loaded, the tray on which the unprocessed packages to be inserted into the jig are stored, and the onloader section is loaded. Package pull-in / draw-out section that pulls the raw package supplied from the section into the jig, and package transport that is installed at the top of the main body and transports the package while moving to the package pull-in / draw-out section, cut tray section and uncut tray section And a device.

Description

Detailed Description of the Invention

〔Technical field〕
The present invention relates to a handler for handling a package, and more specifically, a processed package is automatically taken out from a processing jig and stored in a tray, and an unprocessed package to be processed is automatically mounted on the processing jig. It can be related to package handlers.

[Background Technology]
In recent years, various semiconductor packages have been used in various ways. For example, packages such as SD cards are used for mobile phones, digital cameras, and the like. However, such a package must be processed into a desired shape. For this purpose, it is usually necessary to first cut a strip in which a plurality of packages are formed together into each package, and further process each package into a predetermined shape. In particular, recently, a package such as an SD card has a non-linear portion of a predetermined form, and therefore, it is required to accurately process the non-linear portion.

  For this reason, conventionally, after a package such as an SD card is mounted and fixed to another processing jig, it is processed into a desired form using a processing device such as a water jet or a blade.

  The package processed by such a processing jig is taken out of the processing jig again, stored in a tray, and shipped after passing through another post-process.

[Disclosure of the Invention]
[Problems to be Solved by the Invention]
However, in the past, the work of taking out the package processed with the processing jig and mounting the new unprocessed package on the processing jig has been performed manually, so it takes a lot of time and labor, and the productivity is increased. There was a problem of lowering.

  The present invention is for solving the above-mentioned problems, and its purpose is to automatically perform a work of taking out a package that has been processed by a processing jig and a process of mounting a new unprocessed package on a processing jig. Another object of the present invention is to provide a package handler that can improve productivity and work efficiency.

[Means for solving the problems]
To achieve the above object, the present invention provides a main body, an onloader portion that is installed on one side of the main body and on which a jig in which a plurality of slots for storing processed packages are formed is mounted, From a cut tray section on which empty trays in which packages pulled out from the jig are stored are stacked, an uncut tray section on which trays in which packages inserted into the jig are stored are stacked, and a jig in the onloader section This is accomplished by a package handler that includes a package pull-in / draw-out section that pulls out the processed package and pulls the uncut tray section raw package into a jig.

  Here, the package drawing / drawing unit includes a mounting block on which at least one mounting unit on which a package pulled out from the jig or transferred from the uncut tray unit is mounted is formed, and the jig An elevating unit that moves the jig up and down so that the package is aligned at a position corresponding to the placement portion of the placement block, and the jig package is moved to the placement block, And a push unit for moving the package.

  Note that a plurality of placement portions of the placement block are arranged at a constant interval.

  The mounting block is installed on a mounting block support installed on the main body so as to be horizontally movable by a predetermined distance by a linear motion system.

  The placement block includes a first placement block on which a package pulled out from the jig is placed, and a second placement block on which the package transferred from the uncut tray unit is placed. It is characterized by that.

  Here, the first mounting block and the second mounting block are installed to be independently movable.

  The jig is disposed between the first mounting block and the second mounting block.

  Note that a through-hole through which the package can move is further formed at a position spaced a predetermined distance downward from the placement portion of the first placement block.

The elevating unit includes a mount block vertically installed on the main body, a holder to which the jig is fixed, a drive device for elevating the holder by a predetermined distance,
It is characterized by comprising.

  The holder is formed with a plurality of slots corresponding to the slots of the jig.

  Here, the slot of the holder is preferably formed with a width smaller than the slot of the jig.

  The push unit is disposed on one side of the jig, and pushes the package inserted into the jig slot onto the placement portion of the placement block; the placement block; and the jig. And a second push unit that is disposed on the opposite side of the first push unit in the center and pushes the package on the mounting block into the slot of the jig.

  Here, the first push unit includes a first push bar that pushes out a package in the slot while being inserted inside the slot of the jig, and a push bar driving device that reciprocates the first push bar horizontally. It is characterized by comprising.

  Here, the second push unit horizontally reciprocates the second push bar that extrudes a package on the placement unit while reciprocating in the jig direction from one side of the placement block, and the second push bar. And a push bar drive device to be moved.

  On the other hand, the push unit is installed on one side of the first mounting block, and pushes the package in the jig slot through the through hole of the first mounting block to the second mounting block. A bar, an upper push bar that is formed on the upper side of the lower push bar, and that pushes a package placed on the placement portion of the first placement block into a jig slot; and the lower push bar And a push bar driving device that moves the bar and the upper push bar at the same time.

  The lifting unit includes a mount block vertically installed on the main body, a holder to which the jig is fixed and a slot corresponding to the slot of the jig is formed, and the holder is raised and lowered by a predetermined distance. And a driving device.

  On the other hand, the package handler further includes a package transfer device that is installed at an upper portion of the main body and transfers the package while moving to the package drawing / drawing unit, the cut tray unit, and the uncut tray unit. And

  Here, the package transport device can move along the movable frame and move up and down along the fixed frame installed on the upper side of the main body, the movable frame installed movably along the fixed frame, and the movable frame. And a head block installed in the head block and at least one suction nozzle that vacuum-sucks the package.

  The package transfer device includes a first package transfer device and a second package transfer device that transfer the package while moving independently of each other.

  The first package transport device includes a fixed frame that is fixedly installed on the main body, a first movable frame that is movably installed along the fixed frame, and the first movable frame. A first head block that is installed so as to move and that can be moved up and down by a predetermined distance, and at least one suction nozzle that is installed in the first head block and vacuum-sucks the package. It is characterized by that.

  In addition, the second package transport device moves along the second movable frame, a fixed frame that is fixed to the main body, a second movable frame that is movably installed along the fixed frame, and the second movable frame. And a second head block installed so as to be movable a predetermined distance up and down, and at least one suction nozzle installed in the second head block for vacuum-sucking the package. It is characterized by.

  In addition, the package transport device may move along the short frame extending in one direction on the upper part of the main body so as to pass or be adjacent to the upper side of the package drawing / drawing portion. The head block is configured to be installed and movable up and down by a predetermined distance, and at least one suction nozzle installed in the head block and vacuum-sucking the package.

  The package handler also includes a first tray transfer that moves the uncut tray portion by a predetermined distance in a direction orthogonal to the short frame, and a second tray that moves the cut tray portion by a predetermined distance in a direction orthogonal to the short frame. A tray transfer.

  Here, the head block is formed in an 'L' shape, and the suction nozzle is installed at the tip of the head block, and when the head block moves to one end of the short frame, the suction nozzle It protrudes to the outside.

  Meanwhile, the package handler may further include a cleaning unit that cleans the processed package conveyed from the package drawing / drawing unit and a dry unit that dries the package that has been cleaned.

  In order to achieve the above object, the present invention includes a main body, an onloader portion that is installed on one side of the main body and on which a jig having a plurality of slots in which packages are stored is mounted, A cut tray portion on which a tray in which a package pulled out from is stored is loaded, an uncut tray portion on which a tray in which a package inserted into the jig is stored is loaded, and an uncut tray that is pulled out from the jig A mounting block on which at least one mounting portion on which a package conveyed from the tray portion is mounted is formed, and each package of the jig is aligned at a position corresponding to the mounting portion of the mounting block. A lifting unit for moving the jig up and down so that the package is pushed out toward the mounting block while being inserted inside the slot of the jig. A first push unit including a first push bar and a first push bar driving device configured to reciprocate the first push bar, and a package on the placement unit of the placement block is pushed into the slot of the jig. A second push unit composed of a second push bar and a second push bar driving device for reciprocating the second push bar; and an upper part of the main body, movably installed in the XYZ directions, Achieved by a package handler comprising at least one suction nozzle for sucking a package, and comprising at least one package transport device for transporting a package while moving to the mounting block, the cut tray section and the uncut tray section. Is done.

  Here, a plurality of placement portions of the placement block are arranged at a constant interval.

  The mounting block is installed on a mounting block support mounted on the main body so as to be horizontally movable by a predetermined distance by a linear motion system.

  The package handler may further include a cleaning unit that cleans the processed package conveyed from the package drawing / drawing unit, and a dry unit that dries the package that has been cleaned.

〔The invention's effect〕
According to the present invention, the processing of taking out the processed package from the processing jig, storing it in the tray, and mounting the unprocessed package on the processing jig is automatically performed, so that the package is carried out to and from the processing jig. In addition to greatly reducing the time taken to do this, it is possible to improve work efficiency and productivity.

[Best Mode for Carrying Out the Invention]
First, a package handler according to a first embodiment of the present invention will be described with reference to FIGS.

  As shown in FIGS. 1 and 2, the package handler according to the first embodiment of the present invention is processed by a main body 1, an on-loader part 10 disposed on one side of the main body 1, and a machine. An uncut tray unit 30 in which an unprocessed package UP (hereinafter abbreviated as “unprocessed package”) is stored, and a processed package (cut package) CP (hereinafter abbreviated as “processed package”). .)) And a cut tray portion 20 in which empty trays are stored, and an upper loader portion 10, an uncut tray portion 20 and And a package transport device 40 that transports the package to the cut tray section 30.

  The onloader unit 10 is provided with a processing jig 5. When the package for processing is processed, the processing jig 5 fixes and supports the package at a predetermined position so that the package is processed without moving.

  A plurality of slots 5 a are formed in the processing jig 5. This slot 5a is a space in which the package is accommodated and fixed, and has a structure penetrating as shown in FIG. Further, the slot 5a can be formed to have a regular arrangement structure arranged at a predetermined interval in consideration of workability of the package placed in the slot 5a of the processing jig 5.

  Here, an interval between the slots 5a provided in the processing jig 5 is referred to as a Z-axis pitch. That is, the distance between two slots 5a that are vertically adjacent to each other is called a Z-axis 1 pitch.

  The on-loader unit 10 includes an elevating unit 50 that allows the processing jig 5 to move up and down by a predetermined distance, and a plurality of mounting units 61 on which the processed package CP and the unprocessed package UP are mounted. A mounting block 60 formed in a concave shape, a first push unit 71 for transferring the processed package CP of the processing jig 5 onto the mounting block 60, and a processing jig for processing the unprocessed package UP on the mounting block 60 And a second push unit 72 to be transferred to the fifth slot 5a.

  The lift unit 50 can be applied in any form as long as it can move the processing jig 5 vertically. For example, it can be configured as shown in FIG.

  A lifting unit 50 shown in FIG. 2 extends vertically to the mount block 51, a mount block 51 that is vertically installed on the main body 1, a holder 52 that supports the processing jig 5 to be fixed. The guide member (Guide Member) (not shown) that guides the vertical movement of the holder 52 and a drive device that raises and lowers the holder 52 by a predetermined distance.

  Although not shown, this drive device includes, for example, a motor and a ball screw, or includes a plurality of pulleys, a belt, and one of these pulleys and a motor that rotates the belt, or a linear motor system. A linear motion system such as

  In the holder 52, a plurality of slots 52a corresponding to the slots 5a of the processing jig 5 are arranged at regular intervals in the vertical direction.

  As shown in FIG. 1, the slot 52a of the holder 52 preferably has a smaller width than the slot 5a of the processing jig 5. More specifically, the slot 52a is smaller than the size of the package P and has a first width. What is necessary is just to make it larger than the magnitude | size of the 1st push bar 71a of the push unit 71. FIG.

  This is because when the raw package UP is inserted into the slot 5 a of the processing jig 5 by the second push unit 72, the raw package UP is not inserted into the slot 52 a of the holder 52 and the slot 52 a of the holder 52 is not inserted. This is because it can be accurately positioned in the slot 5a of the processing jig 5 while supporting the edge.

  The holder 52 can be fixed by a vacuum chucking method with the processing jig 5 or by another fixing device such as a bracket or a bracket that moves by a pneumatic cylinder.

  The mounting block 60 is installed on the mounting block support 65 extending in the Y-axis direction on the main body 1 so as to be movable by a predetermined distance along the Y-axis direction. Although not shown in detail in the drawing, the configuration in which the mounting block 60 can be moved along the upper surface of the mounting block support 65 is a drive for moving the holder 52 of the elevating unit 50 to the mounting block 60. A linear motion system similar to the device can be applied.

  Further, the predetermined distance that the mounting block 60 moves can be based on the distance between the mounting portions 61 provided on the mounting block 60. For example, you may make it move only the distance (henceforth Y pitch 1 axis | shaft) between a certain mounting part and the following mounting part, and the next mounting which skipped one mounting part from a certain mounting part. You may make it move only the distance (namely, Y-axis 2 pitch) between mounting parts.

  The first push unit 71 is disposed on one side of the holder 52 of the elevating unit 50, and sequentially passes through the slot 52a of the holder 52 and the slot 5a of the processing jig 5 to receive the processed package CP in the processing jig 5. A first push bar 71a to be pushed out and a push bar driving device for reciprocating the first push bar 71a horizontally with a predetermined stroke (stroke) are configured.

  Here, as long as the push bar driving device is configured to linearly move the first push bar 71a, any configuration can be adopted, for example, a pneumatic cylinder or other linear motion system may be used.

  The second push unit 72 is disposed on one side of the mounting block 60, and includes a second push bar 72a that pushes the unprocessed package UP of the mounting block 60 into the slot 5a of the processing jig 5, and a second push bar. And a push bar driving device that horizontally reciprocates 72a with a predetermined stroke.

  Similarly to the push bar driving device of the first push unit 71, this push bar driving device can also be configured using a pneumatic cylinder or other linear motion system.

  The package transport device 40 includes a fixed frame 41 extending along the X-axis direction on the main body 1, a movable frame 42 installed on the fixed frame 41 so as to be movable along the X-axis direction, and a movable frame 42. The head block 43 is movably installed along the Y-axis direction, and is movably installed vertically (in the Z-axis direction). The head blocks 43 are arranged at regular intervals, and the packages CP and UP are vacuum-sucked And a plurality of suction nozzles 44.

  The suction nozzles 44 are arranged at the same pitch as the placement units 61 of the placement block 60 and can be provided to correspond to the number of placement units 61. More preferably, the number of suction nozzles 44 may be one or more than the placement unit 61.

  Next, the operation of the package handler according to an embodiment of the present invention configured as described above will be described with reference to FIGS. To help understanding, the processed package CP is white and the raw package UP is black, but the processed package CP and the raw package UP are substantially the same color, and only their outline. It is normal to be different.

  First, an operator (or another robot) puts at least one processing jig 5 for which the processing operation has been completed into the onloader unit 10 and fixes it to the holder 52 of the lifting unit 50. Subsequently, the elevating unit 50 raises or lowers the holder 52 by a predetermined distance, and aligns the first slot 5 a of the processing jig 5 so as to coincide with the mounting portion 61 of the mounting block 60.

  At this time, as shown sequentially in FIGS. 3 to 5, the package transport apparatus 40 is configured so that the even-numbered suction nozzles 44 (in the case of ordering from the right side in the drawing) have the unprocessed package UP of the uncut tray section 20. Is vacuum-adsorbed and conveyed onto the mounting block 60, and then lowered and mounted on the even-numbered mounting portion 61 of the mounting block 60 (similarly, when ordering from the right side in the drawing). Will rise again.

  After placing the raw package UP on the placement block 60 as described above, the package transport apparatus 40 moves again to the uncut tray section 20 and sucks the other four new raw packages UP.

  Then, as shown in FIG. 6, the first push bar 71a of the first push unit 71 sequentially passes through the slot 52a (see FIG. 2) of the holder 52 and the slot 5a of the processing jig 5, and the processing jig 5 The processed package CP is moved onto the vacant first placement portion 61 of the placement block 60.

  Thereafter, as shown in FIG. 7, the mounting block 60 moves along the mounting block support base 65 by one pitch on the Y axis on the right side of the drawing, so that the second mounting portion 61 coincides with the machining slot 5 a. To align.

  Subsequently, as shown in FIG. 8, the second push bar 72 a of the second push unit 72 inserts the unprocessed package UP on the second mounting portion 61 into the slot 5 a of the processing jig 5.

  Then, the processing jig 5 is raised by one pitch on the Z axis. Thereafter, the above-described operation is repeated, and the movement pattern of the processing jig 5 and the mounting block 60 is as follows.

  That is, each time the mounting block 60 moves by two pitches on the Y axis, the processing jig 5 moves up by one pitch on the Z axis, and the processed package CP of the processing jig 5 is mounted on the mounting portion 61 of the mounting block 60. The unprocessed package UP is drawn into the slot 5a of the processing jig 5 sequentially.

  On the other hand, as shown in FIG. 9, when all the unprocessed packages UP on the mounting block 60 are inserted into the processing jig 5 and all the processed packages CP are pulled out onto the mounting block 60, the mounting block 60. Is moved by one pitch along the Y axis so that the last empty mounting portion 61 is aligned with the slot 5a of the processing jig 5. At this time, the suction nozzle 44 of the package transport apparatus 40 stands by in a state where a new unprocessed package UP is sucked on the mounting block 60, and descends as shown in FIG. The unprocessed package UP is placed on the placing portion 61.

  Then, as shown in FIG. 11, the suction nozzle 44 sucks the processed package CP on the mounting block 60, conveys it to the empty tray of the cut tray section 30 (see FIG. 1), and sequentially stores it.

  At this time, the processed package CP in the processing jig 5 is pulled out on the last mounting portion 61 of the mounting block 60 by the first push bar 71a, and the mounting block 60 is moved in the opposite direction to the above. The packages CP and UP are carried out and carried in while moving one pitch at a time on the shaft.

  More specifically, each time the mounting block 60 moves two pitches along the Y axis, the processed package CP of the processing jig 5 moves down the mounting block 60 while the processing jig 5 moves down one pitch along the Z axis. Are sequentially drawn onto the mounting portion 61, and the unprocessed package UP is drawn into the slot 5a of the processing jig 5.

  When all the processed packages CP in the slot 5a of the processing jig 5 are taken out and all the new unprocessed packages UP are inserted into the slots 5a of the processing jig 5, the processing jig 5 is separated from the holder 52. Thereafter, the processing jig 5 in which the processed package CP is inserted into the slot 5a is attached to the holder 52, and the above-described package unloading and loading operations are performed.

  The above process is calculated by calculating the order from the right end of the mounting portion 61 of the mounting block 60, but the operation may be started from the left end.

  On the other hand, in the operation example of the package handler described above, the processed package CP and the unprocessed package UP are alternately placed on the mounting block 60, and the package is carried out and carried in.

  The method for carrying the package into and out of the processing jig 5 may be as follows.

  That is, referring to FIG. 12, a method of continuously pulling out the processed package CP in the processing jig 5 on the mounting portion 61 on one side of the mounting block 60 is as follows.

  When the mounting block 60 moves to the left side of the drawing by 1 pitch on the Y axis, the jig 5 moves up by 1 pitch on the Z axis, while the processing in the processing jig 5 is completed on the mounting portion 61 of the mounting block 60. Pull out the package CP. In the present embodiment, the processed package CP is drawn out to the four placement portions 61, as shown in FIG.

  Subsequently, as shown in FIG. 13, when the suction nozzle 44 of the package transport apparatus 40 places the unprocessed package UP on the placement portion 61 on the other side of the placement block 60 (fourth from the right side in the drawing). At the same time, the processed package CP placed on the placement unit 61 may be sucked and conveyed to the cut tray unit 30 (see FIG. 1).

  In this case, the unprocessed package UP mounted on the mounting portion 61 of the mounting block 60 is sequentially inserted into the processing jig 5 by the second push bar 72a.

  At this time, first, the mounting block 60 moves to the left by one pitch along the Y axis while the processing jig 5 does not move along the Z axis. As a result, the placement portion 61 on which the unprocessed package UP is placed coincides with the empty slot 5 a of the processing jig 5.

  Thereafter, the unprocessed package UP is inserted into the slot 5a of the processing jig 5 while operating in the direction opposite to the direction described in FIG. That is, each time the mounting block 60 moves to the left by 1 pitch on the Y axis, the processing jig 5 moves down by 1 pitch on the Z axis, and the unprocessed package UP is completely inserted into the slot 5a by the second push bar 72a. The

  Then, when all the unprocessed packages UP on the mounting block 60 are stored on the processing jig 5, they are again raised by a plurality of pitches on the Z axis (in this embodiment, 5 pitches on the Z axis), Prepare to unload the next processed package CP.

  14 and 15 show a package handler according to a second embodiment of the present invention. In the package handler of the second embodiment, the operation of pulling out the processed package CP from the processing jig 5 and the operation of pulling the unprocessed package UP into the processing jig 5 using one push unit 270 are performed simultaneously. Is.

  The basic configuration of the package handler of the second embodiment is the same as that of the first embodiment described above except for the onloader unit 10 (see FIG. 1). That is, the package handler of the second embodiment includes an uncut tray section 20, a cut tray section 30, and a package transport device 40, as with the package handler of the first embodiment described above.

  In addition, in the onloader unit 10 of the second embodiment different from the package handler of the first embodiment, two mounting block support bases 263 and 267 are installed side by side, and these mounting block support bases 263 are installed. , 267, a first placement block 261 and a second placement block 265 having a plurality of placement portions 262, 266 formed on the upper surface thereof are respectively installed so as to be able to reciprocate horizontally along the Y-axis direction. The

  An unprocessed package UP transported from the uncut tray section 20 is placed on the first placement block 261, and a processed package CP pulled out from the processing jig 5 is placed on the second placement block 265. Placed.

  Further, the processing jig 5 is disposed between the first placement block 261 and the second placement block 265 so as to be vertically movable by the lifting unit 250. Of course, the processing jig 5 is supported by the holder 252, and the holder 252 is formed with a slot 252a corresponding to the slot 5a of the processing jig 5.

  The slot 252a of the holder 252 shown in FIG. 14 has the same size as the slot 5a of the processing jig 5, unlike the first embodiment described above. This is because the processing jig 5 is installed between the first mounting block 261 and the second mounting block 265, and the package inserted into the slot 5a of the processing jig 5 is the first mounting block 261 or This is because it is possible to move to the placement portions 262 and 266 of the second placement block 265.

  As shown in FIG. 15, the first placement block 261 is provided with a placement portion 262 on the upper surface, and through holes 264 are formed below the placement portion 262 at a predetermined interval. The through hole 264 is configured to allow the package to be carried in and out as in the mounting portion 262.

  Similarly, the mounting portion 262 is formed so as to penetrate a push bar 271 of a push unit 270 (to be described later) that moves a package placed on the mounting portion 262.

  A push unit 270 that pulls out the processed package CP from the processing jig 5 and pulls the unprocessed package UP into the processing jig 5 is disposed on one side of the first mounting block 261. As shown in FIG. 15, the push unit 270 includes a push bar 271 that is bifurcated vertically.

  Of the push bars 271, the upper push bar 271a has a shorter length than the lower push bar 271b. The length of the upper push bar 271a is such that when the push bar 271 moves to the first and second mounting blocks 261 and 265, the tip thereof reaches the end of the slot 252a of the holder 252 of the lifting unit 250. Is preferred.

  The lower push bar 271b is configured to be able to move through the through hole 264 to the second mounting block 265 through the first mounting block 261.

  Accordingly, when the package transport device 40 moves the push bar 271 of the push unit 270 after placing the unprocessed package UP on the first placement block 261, the upper push bar 271a is not moved on the first placement block 261. At the same time as the processing package UP is inserted into the slot 5a of the processing jig 5, the lower push bar 271b pulls out the processed package CP present in the slot 5a of the processing jig 5 to the second mounting block 265.

  FIG. 16 shows a package handler according to the third embodiment of the present invention. The handler of the third embodiment has the same basic configuration as the handler of the first embodiment. However, the handler of the third embodiment includes a cleaning unit 380 that cleans the processed package CP taken out from the processing jig 5 before transporting it to the cut tray unit 30, and a dry unit that dries the cleaned package CP. 390 and 390 are different.

  Therefore, in this embodiment, the package transport device 40 sucks the processed package CP on the mounting block 60 and transports it to the cleaning unit 380 to perform the cleaning operation, and subsequently transports it to the dry unit 390 to complete the cleaning. After the CP is dried, it is transported and stored in the cut tray section 30.

  On the other hand, when the processed package CP is transported to the cleaning unit 380, the dry unit 390, and the cut tray unit 30 by one package transporting device 40 as in the third embodiment, the movement path of the package transporting device 40 becomes long and time is increased. It will take. For this reason, after the operation of carrying in / out a new package on the mounting block 60, the case where the package transport apparatus 40 reaches the mounting block 60 with a new unprocessed package can occur. There is also a possibility that productivity will decrease by the time difference.

  Therefore, as shown in FIG. 17 as a fourth embodiment, the processed package CP is cleaned with the cleaning unit 480, the dry unit 490, and the cut tray unit 30 by using two package transfer devices 441 and 445 that are driven independently of each other. By carrying out the work for transporting to the mounting block 261 independently and the work for feeding the unprocessed package UP onto the mounting block 261, it is possible to prevent a reduction in work speed due to the time difference between carry-in and carry-out as described above.

  The handler according to the fourth embodiment includes an uncut tray section 20 disposed on opposite sides of the first and second mounting blocks 261 and 265, the lifting unit 250, the push unit 270, and the mounting blocks 261 and 265. And the cut tray section 30, the first and second package transfer devices 441 and 445, the cleaning section 480, and the dry section 490.

  Since the configurations of the first and second mounting blocks 261 and 265, the lifting unit 250 and the push unit 270 are the same as those of the second embodiment, detailed description thereof will be omitted.

  The first package transport device 441 includes a first movable frame 442 that is movably installed along the X-axis direction on a fixed frame 440 that extends along the X-axis direction of the main body 1, and a first movable frame 442. A first head block 443 installed so as to move along the Y-axis direction and movable up and down by a predetermined distance is attached to the lower end of the first head block 443, and vacuums the package UP. A plurality of suction nozzles 444.

  Further, the second package transport device 445 moves along the Y-axis direction to the second movable frame 446 that is installed on the fixed frame 440 so as to be independently movable along the X-axis direction. And a plurality of suction nozzles 448 that are attached to the lower end portion of the second head block 447 and vacuum-suck the package CP. Consists of.

  In the handler of the fourth embodiment, the first package transport device 441 sucks the unprocessed package UP of the uncut tray section 20 and transports it onto the first placement block 261, and the second package transport device 445 has the second package transport device 445. After the processed package CP on the mounting block 265 is sucked and sequentially transported to the cleaning unit 480 and the dry unit 490, the work finally stored in the empty space of the cut tray unit 30 is performed independently. It becomes.

  FIG. 18 shows a package handler according to the fifth embodiment of the present invention.

  The handler of the fifth embodiment includes an elevating unit 50 that elevates and lowers the processing jig 5, first and second push units 71 and 72, a mounting block 560, an uncut tray unit 20 and a cut tray unit 30, and a package transfer device. 540. The lifting unit 50 and the first and second push units 71 and 72 are configured in substantially the same manner as the lifting unit 50 and the first and second push units 71 and 72 of the handler of the first embodiment described above. Description is omitted.

  The mounting block 560 is fixedly installed on the main body 1 and has only one mounting portion 561.

  The uncut tray unit 20 and the cut tray unit 30 are installed on the main body 1 so as to be movable by one pitch in the X-axis direction by the first tray transfer 525 and the second tray transfer 535 installed along the X-axis direction. Is done.

  Although not shown in detail in the drawings, the first and second tray transfers 525 and 535 use a known linear motion system, for example, two pulleys and a belt and a motor, a linear motor, a motor and a ball screw, and the like. Can be configured.

  In this embodiment, the package transport device 540 is configured to move only in the Y-axis and Z-axis directions. More specifically, the package transport device 540 includes a short frame 541 that extends in the Y-axis direction at the top of the main body 1, and a head block 542 that is installed so as to move in the Y-axis direction along the short frame 541. And two suction nozzles 543 that are installed in the head block 542 and vacuum-suck the package. The short frame 541 is installed so as to pass above the mounting block 560.

  Here, the reason for using two suction nozzles 543 is that only one placement portion 561 of the placement block 560 is provided so that one suction nozzle 543 can pick up a package placed on the placement portion 561. This is because the remaining one suction nozzle 543 can pick up a package placed on the uncut tray section 30 or the cut tray section 20. That is, it is for minimizing the time for the head block 542 to carry the package along the short frame 541. Of course, the number of suction nozzles 543 may be one.

  Therefore, the handler of the fifth embodiment is placed on the uncut tray section 20 while the head block 542 and the suction nozzle 543 of the package transport device 540 are repeatedly moved in the Y-axis direction with the mounting block 560 fixed. The package can be transferred onto the block 560 and the cut tray unit 30.

  The handler of the sixth embodiment shown in FIG. 19 is a modification of the handler of the fifth embodiment, and is configured in substantially the same way as the handler of the fifth embodiment. However, the handler of the sixth embodiment is provided with a plurality of mounting portions 661 on the mounting block 660, and the mounting block 660 is installed on the mounting block support 665 so as to be movable by a predetermined distance. Of course, in the sixth embodiment as well, as in the fifth embodiment, the number of suction nozzles 543 is made larger than the number of mounting portions 661 so that the package transfer process can be performed quickly. it can.

  FIG. 20 shows a seventh example of the handler, which is a modification of the handler shown in FIG. The handler of the seventh embodiment is configured in substantially the same way as the handler of the sixth embodiment. However, in the handler of the seventh embodiment, the shape of the head block 742 constituting the package transport device 740 is formed in a substantially “L” shape, and the suction nozzle 743 is disposed on the tip side of the head block 742. .

  When the package transport device 740 is configured in this way, when the head block 742 moves to one side end of the short frame 741, the suction nozzle 743 attached to the head block 742 protrudes outside the short frame 741, and the mounting block Since it moves to the upper side of 660, the moving distance to the mounting block 660 can be minimized.

  On the other hand, in each embodiment of the package handler described above, the processing jig 5 for processing the packages CP and UP is directly put into the handler, and this is fixed to the holder 52 of the lifting unit 50 and used.

  However, unlike this, the processing jig 5 is not directly fixed to the holder 52 of the handler lifting / lowering unit 50, and after the processed package of the processing jig 5 is transferred to another handler jig and mounted, Is fixed to the holder 52 of the lifting / lowering unit 50 of the handler, and the package is pulled out and retracted, and the unprocessed package inserted into the handler jig is transferred to the processing jig and mounted again to perform the processing operation. Also good.

  FIG. 21 shows an example in which the processed package CP of the processing jig 5 is moved and attached to the handler jig J, and the unprocessed package UP of the handler jig J is transferred to the processing jig 5 and attached.

  As shown in FIG. 21, the processing jig 5 and the handler jig J are connected to each other such that the slots 5a and Ja correspond one-to-one. In this state, the processed package CP of the processing jig 5 is transferred to the handler jig J while a pusher P (pusher) is inserted into each of the slots 5a and Ja from one side of the processing jig 5 or one side of the handler jig J. Or push the unprocessed package UP of the handler jig J into the processing jig 5.

  The width t2 of the slot Ja of the handler jig J is formed to be slightly larger than the width t1 of the slot 5a of the processing jig 5. The inlet portion of the slot Ja of the handler jig J is preferably formed in the shape of a bottle neck so that the package CP can be easily inserted and removed.

  When the handler jig J having such a structure is used, when the width of the slot 5a of the processing jig 5 is substantially equal to the width of the package, the package is removed from the narrow slot 5a of the processing jig 5. It is possible to prevent a phenomenon that the package does not come out well or the package is not inserted well.

It is a top view which shows roughly the structure of the package handler by 1st Example of this invention. It is a side view of the package handler shown in FIG. FIG. 2 is a perspective view of a package drawing / drawing unit of a handler for sequentially explaining an example of a package drawing / drawing operation performed by the package handler of FIG. 1. FIG. 2 is a perspective view of a package drawing / drawing unit of a handler for sequentially explaining an example of a package drawing / drawing operation performed by the package handler of FIG. 1. FIG. 2 is a perspective view of a package drawing / drawing unit of a handler for sequentially explaining an example of a package drawing / drawing operation performed by the package handler of FIG. 1. FIG. 2 is a perspective view of a package drawing / drawing unit of a handler for sequentially explaining an example of a package drawing / drawing operation performed by the package handler of FIG. 1. FIG. 2 is a perspective view of a package drawing / drawing unit of a handler for sequentially explaining an example of a package drawing / drawing operation performed by the package handler of FIG. 1. FIG. 2 is a perspective view of a package drawing / drawing unit of a handler for sequentially explaining an example of a package drawing / drawing operation performed by the package handler of FIG. 1. FIG. 2 is a perspective view of a package drawing / drawing unit of a handler for sequentially explaining an example of a package drawing / drawing operation performed by the package handler of FIG. 1. FIG. 2 is a perspective view of a package drawing / drawing unit of a handler for sequentially explaining an example of a package drawing / drawing operation performed by the package handler of FIG. 1. FIG. 2 is a perspective view of a package drawing / drawing unit of a handler for sequentially explaining an example of a package drawing / drawing operation performed by the package handler of FIG. 1. It is a perspective view of the package drawing / drawing part of the handler explaining the other example of the drawing / drawing operation of the package performed by the package handler of FIG. It is a perspective view of the package drawing / drawing part of the handler explaining the other example of the drawing / drawing operation of the package performed by the package handler of FIG. It is a top view which shows roughly the structure of the package handler by 2nd Example of this invention. FIG. 15 is a cross-sectional view of the package drawing / drawing portion of the handler shown in FIG. 14. It is a top view which shows roughly the structure of the package handler by 3rd Example of this invention. It is a top view which shows roughly the structure of the package handler by 4th Example of this invention. It is a top view which shows roughly the structure of the package handler by 5th Example of this invention. It is a top view which shows roughly the structure of the package handler by 6th Example of this invention. It is a top view which shows roughly the structure of the package handler by 7th Example of this invention. It is principal part sectional drawing which shows the structure of the processing jig applied to the package handler by this invention, and the jig for handlers.

Claims (29)

The body,
An on-loader unit installed on one side of the main body and mounted with a jig formed with a plurality of slots for storing processed packages;
A cut tray portion on which an empty tray in which a package drawn from the jig is stored is loaded;
An uncut tray portion on which a tray storing a package to be inserted into the jig is loaded;
A package drawing / drawing unit for drawing a processed package from the jig of the onloader unit and drawing an unprocessed package of the uncut tray unit into the jig;
Package handler containing The package retracting / drawing portion is
A placement block on which at least one placement portion on which a package pulled out from the jig or transferred from the uncut tray portion is placed is formed;
A lifting unit that moves the jig up and down so that the package of the jig is aligned at a position corresponding to the placement portion of the placement block;
A push unit for moving the package of the jig to the mounting block, and moving the package on the mounting block;
The package handler according to claim 1, comprising:   3. The package handler according to claim 2, wherein a plurality of mounting portions of the mounting block are arranged at regular intervals.   4. The package handler according to claim 2, wherein the mounting block is installed on a mounting block supporting table installed in the main body so as to be horizontally movable by a linear movement system by a predetermined distance. The previous block is
A first placement block on which a package pulled out of the jig is placed;
A second placement block on which the package transferred from the uncut tray section is placed;
The package handler according to claim 2 or 3, characterized by comprising:   6. The package handler according to claim 5, wherein the first mounting block and the second mounting block are installed so as to be independently movable.   The package handler according to claim 5, wherein the jig is disposed between the first mounting block and the second mounting block.   The package handler according to claim 7, wherein a through hole through which the package can move is further formed at a position spaced apart from the placement portion of the first placement block by a predetermined distance. The lifting unit is
A mounting block vertically installed on the main body;
A holder to which the jig is fixed;
A driving device for raising and lowering the holder by a predetermined distance;
The package handler according to claim 2, comprising:   The package handler according to claim 9, wherein a plurality of slots corresponding to the slots of the jig are formed in the holder.   The package handler according to claim 10, wherein the slot of the holder is formed with a width smaller than the slot of the jig. The push unit is
A first push unit that is disposed on one side of the jig and pushes the package inserted into the slot of the jig onto the mounting portion of the mounting block;
A second push unit that is disposed on the opposite side of the first push unit around the mounting block and the jig, and pushes a package on the mounting block into a slot of the jig;
The package handler according to claim 2, comprising: The first push unit is
A first push bar that pushes out the package in the slot while being inserted inside the slot of the jig;
A push bar driving device that horizontally reciprocates the first push bar;
The package handler according to claim 12, comprising: The second push unit is
A second push bar that pushes out the package on the mounting portion while reciprocating in the jig direction from one side of the mounting block;
The package handler according to claim 12, further comprising: a push bar driving device that horizontally reciprocates the second push bar. The push unit is
A lower push bar that is installed on one side of the first mounting block and pushes a package in the slot of the jig to the second mounting block through a through hole of the first mounting block;
An upper push bar that is formed by branching to the upper side of the lower push bar and pushes the package placed on the placement portion of the first placement block into the slot of the jig;
A push bar driving device for simultaneously moving the lower push bar and the upper push bar;
The package handler according to claim 8, comprising: The lifting unit is
A mounting block vertically installed on the main body;
A holder to which the jig is fixed and a slot corresponding to the slot of the jig is formed;
A driving device for raising and lowering the holder by a predetermined distance;
The package handler according to claim 14, comprising:   The apparatus according to claim 1, further comprising a package transfer device installed at an upper portion of the main body and transferring the package while moving to the package drawing / drawing unit, the cut tray unit, and the uncut tray unit. The listed package handler. The package transfer device is
A fixed frame installed on the upper side of the main body;
A movable frame installed movably along the fixed frame;
A head block that can be moved along the movable frame and can be moved up and down;
At least one suction nozzle installed in the head block and vacuum-sucking the package;
The package handler according to claim 17, comprising:   18. The package handler according to claim 17, wherein the package transport device includes a first package transport device and a second package transport device that transport the package while moving independently of each other. The first package transfer device is
A fixed frame fixed to the main body;
A first movable frame installed movably along the fixed frame;
A first head block installed so as to move along the first movable frame and installed so as to be movable a predetermined distance up and down;
At least one suction nozzle installed in the first head block and vacuum-sucking the package;
The package handler according to claim 19, comprising: The second package transfer device is
A fixed frame fixed to the main body;
A second movable frame movably installed along the fixed frame;
A second head block installed so as to move along the second movable frame and movable up and down a predetermined distance;
At least one suction nozzle installed in the second head block and vacuum-sucking the package;
The package handler according to claim 19, comprising: The package transfer device is
A short frame extending in one direction on the upper part of the main body so as to pass or be adjacent to the upper side of the package drawing / drawing part;
A head block installed to move along the short frame and installed so as to be movable a predetermined distance up and down;
At least one suction nozzle installed in the head block for vacuum suction of the package;
The package handler according to claim 17, comprising: A first tray transfer for moving the uncut tray portion by a predetermined distance in a direction orthogonal to the short frame;
A second tray transfer for moving the cut tray portion by a predetermined distance in a direction orthogonal to the short frame;
The package handler according to claim 22, further comprising:   The head block is formed in an 'L' shape, the suction nozzle is installed at the tip thereof, and the suction nozzle protrudes outside the short frame when the head block moves to one end of the short frame. The package handler according to claim 22, wherein: A cleaning unit for cleaning the processed package conveyed from the package drawing / drawing unit;
A drying section for drying the package after cleaning;
The package handler according to claim 1, further comprising: The body,
An on-loader unit installed on one side of the main body and mounted with a jig formed with a plurality of slots for storing packages;
A cut tray portion on which a tray for storing a package drawn from the jig is loaded;
An uncut tray portion on which a tray storing a package to be inserted into the jig is loaded;
A mounting block in which at least one mounting unit on which a package pulled out from the jig or transported from the uncut tray unit is mounted is formed on the upper surface;
An elevating unit that moves the jig up and down so that each package of the jig is aligned at a position corresponding to the placement portion of the placement block;
A first push unit configured to include a first push bar that pushes the package in the mounting block direction while being inserted into a slot of the jig, and a first push bar driving device that reciprocates the first push bar; ,
A second push bar comprising a second push bar for pushing the package on the placement part of the placement block into the slot of the jig, and a second push bar driving device for reciprocating the second push bar; ,
It is installed on the upper part of the main body so as to be movable in the X, Y, and Z directions, and includes at least one suction nozzle for sucking the package. At least one package transfer device for transferring
A package handler that contains   27. The package handler according to claim 26, wherein a plurality of mounting portions of the mounting block are arranged at a constant interval.   28. The package handler according to claim 26 or 27, wherein the mounting block is installed on a mounting block supporting table installed in the main body so as to be horizontally movable by a linear movement system by a predetermined distance. A cleaning unit for cleaning the processed package conveyed from the package drawing / drawing unit;
A drying section for drying the package after cleaning;
27. The package handler of claim 26, further comprising:

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